Adaptive fixed-time containment control of MIMO nonlinear multiagent systems via dynamic event-triggered communication
- Authors
- Kim, Hyeong Jin; Yoo, Sung Jin
- Issue Date
- May-2024
- Publisher
- Springer Science and Business Media B.V.
- Keywords
- Adaptive containment control; Dynamic event-triggered communication; Fixed-time convergence; Multi-leader estimation
- Citation
- Nonlinear Dynamics, v.112, no.13, pp 11127 - 11145
- Pages
- 19
- Journal Title
- Nonlinear Dynamics
- Volume
- 112
- Number
- 13
- Start Page
- 11127
- End Page
- 11145
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/74206
- DOI
- 10.1007/s11071-024-09621-9
- ISSN
- 0924-090X
1573-269X
- Abstract
- We address the adaptive fixed-time containment (FxTC) control problem of a class of uncertain multi-input multi-output nonlinear multiagent systems using event-triggered inter-agent communication under a directed network. Our primary contribution is to develop multi-leader estimation and dynamic event-triggering strategies to ensure practical fixed-time convergence in a distributed containment control framework. First, an event-triggered mechanism that uses distributed containment errors in the dynamic threshold is introduced to reduce needless data transmissions among agents according to decreasing errors. Subsequently, a multi-leader-estimation-based command-filtered backstepping strategy is established to design a distributed adaptive FxTC controller using only neighbors’ output information. Using the fixed-time stability theory, we show that all closed-loop signals are bounded and all followers can be steered to the convex hull spanned by the leaders within a fixed time, regardless of the initial state conditions. Finally, two simulation examples containing robotic manipulators demonstrate the merits of the suggested control strategy. © The Author(s), under exclusive licence to Springer Nature B.V. 2024.
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